Alexander S. Andreev and Olga A. Peregudova
Discrete Tracking Control of Nonholonomic Mobile Robots Backstepping Design Approach
1430 - 1434
2014
8
11
International Journal of Mathematical and Computational Sciences
https://publications.waset.org/pdf/10001104
https://publications.waset.org/vol/95
World Academy of Science, Engineering and Technology
In this paper we propose a discrete tracking control of
nonholonomic mobile robots with two degrees of freedom. The
electromechanical model of a mobile robot moving on a horizontal
surface without slipping, with two rear wheels controlled by two
independent DC electric, and one front roal wheel is considered. We
present backstepping design based on the Euler approximate discretetime
model of a continuoustime plant. Theoretical considerations are
verified by numerical simulation.
Open Science Index 95, 2014